相关论文: Sample-efficient Adversarial Imitation Learning

We propose an approach to self-supervised representation learning based on maximizing mutual information between features extracted from multiple views of a shared context. For example, one could produce multiple views of a local…

Despite the considerable potential of reinforcement learning (RL), robotic control tasks predominantly rely on imitation learning (IL) due to its better sample efficiency. However, it is costly to collect comprehensive expert demonstrations…

A major bottleneck in imitation learning is the requirement of a large number of expert demonstrations, which can be expensive or inaccessible. Learning from supplementary demonstrations without strict quality requirements has emerged as a…

Offline imitation learning typically learns from expert and unlabeled demonstrations, yet often overlooks the valuable signal in explicitly undesirable behaviors. In this work, we study offline imitation learning from contrasting behaviors,…

Imitation Learning describes the problem of recovering an expert policy from demonstrations. While inverse reinforcement learning approaches are known to be very sample-efficient in terms of expert demonstrations, they usually require…

We propose a self-supervised approach for learning representations and robotic behaviors entirely from unlabeled videos recorded from multiple viewpoints, and study how this representation can be used in two robotic imitation settings:…

Self-supervised representation learning approaches have recently surpassed their supervised learning counterparts on downstream tasks like object detection and image classification. Somewhat mysteriously the recent gains in performance come…

Imitation learning methods are used to infer a policy in a Markov decision process from a dataset of expert demonstrations by minimizing a divergence measure between the empirical state occupancy measures of the expert and the policy. The…

Distribution shift in imitation learning refers to the problem that the agent cannot plan proper actions for a state that has not been visited during the training. This problem can be largely attributed to the inherently narrow state-action…

Training machine learning models that are robust against adversarial inputs poses seemingly insurmountable challenges. To better understand adversarial robustness, we consider the underlying problem of learning robust representations. We…

Self-supervised learning in computer vision aims to leverage the inherent structure and relationships within data to learn meaningful representations without explicit human annotation, enabling a holistic understanding of visual scenes.…

In practice, imitation learning is preferred over pure reinforcement learning whenever it is possible to design a teaching agent to provide expert supervision. However, we show that when the teaching agent makes decisions with access to…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

Deep reinforcement learning models are vulnerable to adversarial attacks that can decrease a victim's cumulative expected reward by manipulating the victim's observations. Despite the efficiency of previous optimization-based methods for…

In this paper, we propose a new approach called MemLoss to improve the adversarial training of machine learning models. MemLoss leverages previously generated adversarial examples, referred to as 'Memory Adversarial Examples,' to enhance…

Imitation learning for robotic tasks has relied primarily on policies trained only on successful demonstrations, although failures are unavoidable during human data collection. Many existing approaches for exploiting failure data require…

We study interactive imitation learning, where a learner interactively queries a demonstrating expert for action annotations, aiming to learn a policy that has performance competitive with the expert, using as few annotations as possible.…

We propose a structured prediction approach for robot imitation learning from demonstrations. Among various tools for robot imitation learning, supervised learning has been observed to have a prominent role. Structured prediction is a form…

Standard meta-learning for representation learning aims to find a common representation to be shared across multiple tasks. The effectiveness of these methods is often limited when the nuances of the tasks' distribution cannot be captured…

Robots are expected to replace menial tasks such as housework. Some of these tasks include nonprehensile manipulation performed without grasping objects. Nonprehensile manipulation is very difficult because it requires considering the…